公开(公告)号：US11338445B2

公开(公告)日：2022-05-24

申请号：US16115025

申请日：2018-08-28

Applicant: SYNAPTIVE MEDICAL INC.

Inventor： Brent Andrew Bailey ,  Trevor James Dell ,  Bart Verzijlenberg ,  Adam Philip ,  Sean Dowling

IPC: A61B1/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B90/00 ,  A61B90/25 ,  B25J13/08 ,  B25J9/02 ,  B25J9/06 ,  B25J9/16

Abstract: An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.

公开(公告)号：US11890067B2

公开(公告)日：2024-02-06

申请号：US17155424

申请日：2021-01-22

Applicant: Synaptive Medical Inc.

Inventor： Brent Andrew Bailey ,  Trevor James Dell ,  Bart Verzijlenberg ,  Adam Philip ,  Sean Dowling ,  Robert Lucas

IPC: A61B34/30 ,  B25J9/02 ,  A61B17/29 ,  A61B18/14 ,  B25J13/08 ,  B25J9/16 ,  B25J18/00 ,  A61B34/20 ,  F16M11/06 ,  A61B90/00 ,  A61B34/10 ,  A61B34/00 ,  A61B17/32

CPC classification number: A61B34/30 ,  A61B17/29 ,  A61B18/1442 ,  A61B34/20 ,  B25J9/02 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J18/007 ,  A61B17/32 ,  A61B34/10 ,  A61B34/25 ,  A61B90/361 ,  A61B2017/2912 ,  A61B2034/2055 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/374 ,  A61B2090/3735 ,  A61B2090/3762 ,  F16M11/06

Abstract: A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.

公开(公告)号：US11376081B2

公开(公告)日：2022-07-05

申请号：US17103015

申请日：2020-11-24

Applicant: SYNAPTIVE MEDICAL INC.

Inventor： Tammy Kee-Wai Lee ,  Michael Frank Gunter Wood ,  Cameron Anthony Piron ,  Brent Andrew Bailey ,  Sagar Saxena ,  Sean Adrian Conroy ,  Kamyar Abhari ,  Kai Michael Hynna ,  Gal Sela ,  Kelly Noel Dyer ,  Joshua Lee Richmond

IPC: A61B34/20 ,  G02B21/00 ,  A61B90/25 ,  A61B90/30 ,  G02B21/08 ,  A61B90/20 ,  G02B21/36 ,  A61B90/00 ,  G02B7/09 ,  G02B21/02 ,  G02B21/06 ,  H04N5/232 ,  G06T19/00

Abstract: An optical imaging system for imaging a target during a medical procedure, the imaging system involving an optical assembly having moveable zoom optics and moveable focus optics, a zoom actuator and a focus actuator for positioning the zoom and focus optics, respectively, a controller for controlling the zoom and focus actuators independently in response to received control input, a camera for capturing an image of the target from the optical assembly, the system capable of performing autofocus during a medical procedure.

公开(公告)号：US11648064B2

公开(公告)日：2023-05-16

申请号：US17805771

申请日：2022-06-07

Applicant: SYNAPTIVE MEDICAL INC.

Inventor： Tammy Kee-Wai Lee ,  Michael Frank Gunter Wood ,  Cameron Anthony Piron ,  Brent Andrew Bailey ,  Sagar Saxena ,  Sean Adrian Conroy ,  Kamyar Abhari ,  Kai Michael Hynna ,  Gal Sela ,  Kelly Noel Dyer ,  Joshua Lee Richmond

IPC: A61B34/20 ,  G02B21/00 ,  A61B90/25 ,  A61B90/30 ,  G02B21/08 ,  A61B90/20 ,  G02B21/36 ,  A61B90/00 ,  G02B7/09 ,  G02B21/02 ,  G02B21/06 ,  H04N5/232 ,  G06T19/00

CPC classification number: A61B34/20 ,  A61B90/20 ,  A61B90/25 ,  A61B90/30 ,  A61B90/361 ,  A61B90/37 ,  G02B7/09 ,  G02B21/0012 ,  G02B21/025 ,  G02B21/06 ,  G02B21/084 ,  G02B21/362 ,  G02B21/365 ,  G02B21/368 ,  H04N5/23203 ,  H04N5/23216 ,  H04N5/23296 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2090/367 ,  A61B2090/373 ,  G06T19/006

Abstract: An optical imaging system for imaging a target during a medical procedure, the imaging system involving an optical assembly having moveable zoom optics and moveable focus optics, a zoom actuator and a focus actuator for positioning the zoom and focus optics, respectively, a controller for controlling the zoom and focus actuators independently in response to received control input, a camera for capturing an image of the target from the optical assembly, the system capable of performing autofocus during a medical procedure.

公开(公告)号：US10993771B2

公开(公告)日：2021-05-04

申请号：US15262560

申请日：2016-09-12

Applicant: SYNAPTIVE MEDICAL INC.

Inventor： Kirusha Srimohanarajah ,  Gal Sela ,  Kelly Noel Dyer ,  Dorothy Lui ,  Brent Andrew Bailey

IPC: A61B34/20 ,  A41D13/11 ,  A61B46/00 ,  A61B46/10 ,  A61B34/10 ,  A41D13/12 ,  A61B34/30 ,  A61B90/00

Abstract: Trackable apparatuses and methods involving at least one arrangement of at least one trackable feature configured for disposition in relation to at least one substrate, each arrangement of the at least one arrangement having a distinct pattern of trackable features configured to facilitate determining at least one of: an identity of at least one object and at least one subject, a disposition of at least one object and at least one subject, a disposition between at least one object and at least one subject, and a disposition among at least one object and at least one subject, and each arrangement of the at least one arrangement configured to optimize tracking by a navigation tracking system, whereby at least one spatial relationship among the at least one object and the at least one subject is optimizable. The navigation tracking system is optionally multi-modal.